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<div class="title">local_recognizer.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * local_recognizer.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 24, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_LOCAL_RECOGNIZER_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_LOCAL_RECOGNIZER_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//#include &lt;opencv2/opencv.hpp&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;flann/flann.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/pc_source/source.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/cg/correspondence_grouping.h&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/hv/hypotheses_verification.h&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/pcl_visualizer.h&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;correspSorter (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp; i, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp; j)</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordflow">return</span> (i.distance &lt; j.distance);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;{</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html">   40</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html">LocalRecognitionPipeline</a></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      {</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::ConstPtr ConstPointInTPtr;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keyword">typedef</span> Distance&lt;float&gt; DistT;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">Model&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3b5ec58eb55f43c5b7dc18b051286e72">   50</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3b5ec58eb55f43c5b7dc18b051286e72">training_dir_</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a7c4309d4d9e564900e9f230e3c4fdf04">   53</a></span>&#160;        PointInTPtr <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a7c4309d4d9e564900e9f230e3c4fdf04">input_</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a570b642caf7da50b71ce536fa65a51a6">   56</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;Source&lt;PointInT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a570b642caf7da50b71ce536fa65a51a6">source_</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#abc0861c5e2a7866c3e5d32c8b068ad82">   59</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;LocalEstimator&lt;PointInT, FeatureT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#abc0861c5e2a7866c3e5d32c8b068ad82">estimator_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3f3bf44d5aaaeda4c328e4d58ccf44c1">   62</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;CorrespondenceGrouping&lt;PointInT, PointInT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3f3bf44d5aaaeda4c328e4d58ccf44c1">cg_algorithm_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a33fc233406168aa31c6d762457129ec5">   65</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;HypothesisVerification&lt;PointInT, PointInT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a33fc233406168aa31c6d762457129ec5">hv_algorithm_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#aa59dee9258bf2617b05e00d14e57c791">   68</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#aa59dee9258bf2617b05e00d14e57c791">descr_name_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a8ec7a3935fb1dcf5b884fb80cc457b54">   71</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a8ec7a3935fb1dcf5b884fb80cc457b54">search_model_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordtype">bool</span> compute_table_plane_;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1flann__model.html">   75</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1flann__model.html">flann_model</a></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> model;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keywordtype">int</span> view_id;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keywordtype">int</span> keypoint_id;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          std::vector&lt;float&gt; descr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data_;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * flann_index_;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        std::vector&lt;flann_model&gt; flann_models_;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        std::vector&lt;int&gt; indices_;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordtype">bool</span> use_cache_;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        std::map&lt;std::pair&lt;std::string, int&gt;, Eigen::Matrix4f, std::less&lt;std::pair&lt;std::string, int&gt; &gt;, Eigen::aligned_allocator&lt;std::pair&lt;std::pair&lt;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            std::string, <span class="keywordtype">int</span>&gt;, Eigen::Matrix4f&gt; &gt; &gt; poses_cache_;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        std::map&lt;std::pair&lt;std::string, int&gt;, <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr&gt; keypoints_cache_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordtype">float</span> threshold_accept_model_hypothesis_;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordtype">int</span> ICP_iterations_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        boost::shared_ptr&lt;std::vector&lt;ModelT&gt; &gt; models_;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        boost::shared_ptr&lt;std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &gt; transforms_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordtype">int</span> kdtree_splits_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordtype">float</span> VOXEL_SIZE_ICP_;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        PointInTPtr keypoints_input_;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        PointInTPtr processed_;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::Ptr signatures_;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="comment">//load features from disk and create flann structure</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        loadFeaturesAndCreateFLANN ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        convertToFLANN (<span class="keyword">const</span> std::vector&lt;flann_model&gt; &amp;models, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;data)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          data.rows = models.size ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          data.cols = models[0].descr.size (); <span class="comment">// number of histogram bins</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data (<span class="keyword">new</span> <span class="keywordtype">float</span>[models.size () * models[0].descr.size ()], models.size (), models[0].descr.size ());</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; data.rows; ++i)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; data.cols; ++j)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;              flann_data.ptr ()[i * data.cols + j] = models[i].descr[j];</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          data = flann_data;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        nearestKSearch (<a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * index, <span class="keyword">const</span> flann_model &amp;model, <span class="keywordtype">int</span> k, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> &amp;indices, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;distances);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1_object_hypothesis.html">  132</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1_object_hypothesis.html">ObjectHypothesis</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> model_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr correspondences_pointcloud; <span class="comment">//points in model coordinates</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          boost::shared_ptr&lt;std::vector&lt;float&gt; &gt; feature_distances_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          pcl::CorrespondencesPtr correspondences_to_inputcloud; <span class="comment">//indices between correspondences_pointcloud and scene cloud</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        };</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        getPose (<a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> &amp; model, <span class="keywordtype">int</span> view_id, Eigen::Matrix4f &amp; pose_matrix);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        getKeypoints (<a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> &amp; model, <span class="keywordtype">int</span> view_id, <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr &amp; keypoints_cloud);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        drawCorrespondences (PointInTPtr &amp; cloud, <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1_object_hypothesis.html">ObjectHypothesis</a> &amp; oh, PointInTPtr &amp; keypoints_pointcloud, pcl::Correspondences &amp; correspondences)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a> vis_corresp_;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#abc6af0973c4630d8770b3f18f21e794a">setWindowName</a>(<span class="stringliteral">&quot;correspondences...&quot;</span>);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html">pcl::visualization::PointCloudColorHandlerCustom&lt;PointInT&gt;</a> random_handler (cloud, 255, 0, 0);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">addPointCloud</a>&lt;PointInT&gt; (cloud, random_handler, <span class="stringliteral">&quot;points&quot;</span>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::ConstPtr cloud_sampled;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          cloud_sampled = oh.model_.getAssembled (0.0025f);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html">pcl::visualization::PointCloudColorHandlerCustom&lt;PointInT&gt;</a> random_handler_sampled (cloud_sampled, 0, 0, 255);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a36dbb0c4490a8de4838503dc257ba26a">addPointCloud</a>&lt;PointInT&gt; (cloud_sampled, random_handler_sampled, <span class="stringliteral">&quot;sampled&quot;</span>);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> kk = 0; kk &lt; correspondences.size (); kk++)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> p;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            p.getVector4fMap () = oh.correspondences_pointcloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[correspondences[kk].index_query].getVector4fMap ();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> p_scene;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            p_scene.getVector4fMap () = keypoints_pointcloud-&gt;points[correspondences[kk].index_match].getVector4fMap ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            std::stringstream line_name;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            line_name &lt;&lt; <span class="stringliteral">&quot;line_&quot;</span> &lt;&lt; kk;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa788c98f62fbf379abfc3b03550ecab5">addLine</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>, <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>&gt; (p_scene, p, line_name.str ());</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a52243d2e72e3cd3f125b27360b4f8433">spin</a> ();</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a8deb3d6c61801a1278c641475678b704">removeAllPointClouds</a>();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa7d86bc003c5ad4c1f630ccd17fd779b">removeAllShapes</a>();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          vis_corresp_.<a class="code" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0027de047edb88ae60afe6d39993ed2a">close</a>();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        LocalRecognitionPipeline ()</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          use_cache_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          threshold_accept_model_hypothesis_ = 0.2f;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          ICP_iterations_ = 30;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          kdtree_splits_ = 512;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          search_model_ = <span class="stringliteral">&quot;&quot;</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          VOXEL_SIZE_ICP_ = 0.0025f;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          compute_table_plane_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">void</span> setISPK(<span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::Ptr &amp; signatures, PointInTPtr &amp; p, PointInTPtr &amp; keypoints)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          keypoints_input_ = keypoints;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          signatures_ = signatures;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          processed_ = p;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordtype">void</span> setVoxelSizeICP(<span class="keywordtype">float</span> s) {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          VOXEL_SIZE_ICP_ = s;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        setSearchModel (std::string &amp; <span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          search_model_ = id;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        setThresholdAcceptHyp (<span class="keywordtype">float</span> t)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          threshold_accept_model_hypothesis_ = t;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        ~LocalRecognitionPipeline ()</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        setKdtreeSplits (<span class="keywordtype">int</span> n)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          kdtree_splits_ = n;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        setIndices (std::vector&lt;int&gt; &amp; indices)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          indices_ = indices;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        setICPIterations (<span class="keywordtype">int</span> it)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          ICP_iterations_ = it;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        setUseCache (<span class="keywordtype">bool</span> u)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          use_cache_ = u;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        boost::shared_ptr&lt;std::vector&lt;ModelT&gt; &gt;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        getModels ()</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="keywordflow">return</span> models_;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        boost::shared_ptr&lt;std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &gt;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        getTransforms ()</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;          <span class="keywordflow">return</span> transforms_;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a66e5b925348f24f654c0eec71a4f50b0">  260</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a66e5b925348f24f654c0eec71a4f50b0">setDataSource</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">Source&lt;PointInT&gt;</a> &gt; &amp; source)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          source_ = source;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;Source&lt;PointInT&gt; &gt;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        getDataSource ()</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <span class="keywordflow">return</span> source_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#ad27e491f241b233e60a640e457eda67c">  275</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#ad27e491f241b233e60a640e457eda67c">setFeatureEstimator</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html">LocalEstimator&lt;PointInT, FeatureT&gt;</a> &gt; &amp; feat)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          estimator_ = feat;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#af0e7e2c8953c779f6f1496647d0633c4">  284</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#af0e7e2c8953c779f6f1496647d0633c4">setCGAlgorithm</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_correspondence_grouping.html">CorrespondenceGrouping&lt;PointInT, PointInT&gt;</a> &gt; &amp; alg)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          cg_algorithm_ = alg;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#abb02ec116a04534cbc1b8ff21ec2d622">  293</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#abb02ec116a04534cbc1b8ff21ec2d622">setHVAlgorithm</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;PointInT, PointInT&gt;</a> &gt; &amp; alg)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          hv_algorithm_ = alg;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3c1bbb801e20592b87aad086ccb4af65">  302</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3c1bbb801e20592b87aad086ccb4af65">setInputCloud</a> (<span class="keyword">const</span> PointInTPtr &amp; cloud)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          input_ = cloud;</div>
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<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a6ebfd3dc168e800da0fea55516ba5c67">  311</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a6ebfd3dc168e800da0fea55516ba5c67">setDescriptorName</a> (std::string &amp; name)</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          descr_name_ = name;</div>
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<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a75df765445fdd31c2737ec6f8f527e90">  320</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a75df765445fdd31c2737ec6f8f527e90">setTrainingDir</a> (std::string &amp; dir)</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        {</div>
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<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        setComputeTablePlane(<span class="keywordtype">bool</span> b) {</div>
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<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        getProcessed(PointInTPtr &amp; cloud) {</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          cloud = processed_;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        initialize (<span class="keywordtype">bool</span> force_retrain = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        recognize ();</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      };</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;}</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_LOCAL_RECOGNIZER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassflann_1_1_index_html"><div class="ttname"><a href="classflann_1_1_index.html">flann::Index&lt; DistT &gt;</a></div></div>
<div class="ttc" id="aclassflann_1_1_matrix_html"><div class="ttname"><a href="classflann_1_1_matrix.html">flann::Matrix&lt; float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_correspondence_grouping_html"><div class="ttname"><a href="classpcl_1_1_correspondence_grouping.html">pcl::CorrespondenceGrouping</a></div><div class="ttdoc">Abstract base class for Correspondence Grouping algorithms.</div><div class="ttdef"><b>Definition:</b> correspondence_grouping.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_hypothesis_verification_html"><div class="ttname"><a href="classpcl_1_1_hypothesis_verification.html">pcl::HypothesisVerification</a></div><div class="ttdoc">Abstract class for hypotheses verification methods</div><div class="ttdef"><b>Definition:</b> hypotheses_verification.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_estimator.html">pcl::rec_3d_framework::LocalEstimator</a></div><div class="ttdef"><b>Definition:</b> local_estimator.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1_object_hypothesis_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1_object_hypothesis.html">pcl::rec_3d_framework::LocalRecognitionPipeline::ObjectHypothesis</a></div><div class="ttdef"><b>Definition:</b> local_recognizer.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1flann__model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_1_1flann__model.html">pcl::rec_3d_framework::LocalRecognitionPipeline::flann_model</a></div><div class="ttdef"><b>Definition:</b> local_recognizer.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html">pcl::rec_3d_framework::LocalRecognitionPipeline</a></div><div class="ttdoc">Object recognition + 6DOF pose based on local features, GC and HV Contains keypoints/local features c...</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:41</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a33fc233406168aa31c6d762457129ec5"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a33fc233406168aa31c6d762457129ec5">pcl::rec_3d_framework::LocalRecognitionPipeline::hv_algorithm_</a></div><div class="ttdeci">boost::shared_ptr&lt; HypothesisVerification&lt; PointInT, PointInT &gt; &gt; hv_algorithm_</div><div class="ttdoc">Hypotheses verification algorithm</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a3b5ec58eb55f43c5b7dc18b051286e72"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3b5ec58eb55f43c5b7dc18b051286e72">pcl::rec_3d_framework::LocalRecognitionPipeline::training_dir_</a></div><div class="ttdeci">std::string training_dir_</div><div class="ttdoc">Directory where the trained structure will be saved</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a3c1bbb801e20592b87aad086ccb4af65"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3c1bbb801e20592b87aad086ccb4af65">pcl::rec_3d_framework::LocalRecognitionPipeline::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointInTPtr &amp;cloud)</div><div class="ttdoc">Sets the input cloud to be classified</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a3f3bf44d5aaaeda4c328e4d58ccf44c1"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a3f3bf44d5aaaeda4c328e4d58ccf44c1">pcl::rec_3d_framework::LocalRecognitionPipeline::cg_algorithm_</a></div><div class="ttdeci">boost::shared_ptr&lt; CorrespondenceGrouping&lt; PointInT, PointInT &gt; &gt; cg_algorithm_</div><div class="ttdoc">Point-to-point correspondence grouping algorithm</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a570b642caf7da50b71ce536fa65a51a6"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a570b642caf7da50b71ce536fa65a51a6">pcl::rec_3d_framework::LocalRecognitionPipeline::source_</a></div><div class="ttdeci">boost::shared_ptr&lt; Source&lt; PointInT &gt; &gt; source_</div><div class="ttdoc">Model data source</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a66e5b925348f24f654c0eec71a4f50b0"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a66e5b925348f24f654c0eec71a4f50b0">pcl::rec_3d_framework::LocalRecognitionPipeline::setDataSource</a></div><div class="ttdeci">void setDataSource(typename boost::shared_ptr&lt; Source&lt; PointInT &gt; &gt; &amp;source)</div><div class="ttdoc">Sets the model data source_</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a6ebfd3dc168e800da0fea55516ba5c67"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a6ebfd3dc168e800da0fea55516ba5c67">pcl::rec_3d_framework::LocalRecognitionPipeline::setDescriptorName</a></div><div class="ttdeci">void setDescriptorName(std::string &amp;name)</div><div class="ttdoc">Sets the descriptor name</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a75df765445fdd31c2737ec6f8f527e90"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a75df765445fdd31c2737ec6f8f527e90">pcl::rec_3d_framework::LocalRecognitionPipeline::setTrainingDir</a></div><div class="ttdeci">void setTrainingDir(std::string &amp;dir)</div><div class="ttdoc">Filesystem dir where to keep the generated training data</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:320</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a7c4309d4d9e564900e9f230e3c4fdf04"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a7c4309d4d9e564900e9f230e3c4fdf04">pcl::rec_3d_framework::LocalRecognitionPipeline::input_</a></div><div class="ttdeci">PointInTPtr input_</div><div class="ttdoc">Point cloud to be classified</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_a8ec7a3935fb1dcf5b884fb80cc457b54"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#a8ec7a3935fb1dcf5b884fb80cc457b54">pcl::rec_3d_framework::LocalRecognitionPipeline::search_model_</a></div><div class="ttdeci">std::string search_model_</div><div class="ttdoc">Id of the model to be used</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_aa59dee9258bf2617b05e00d14e57c791"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#aa59dee9258bf2617b05e00d14e57c791">pcl::rec_3d_framework::LocalRecognitionPipeline::descr_name_</a></div><div class="ttdeci">std::string descr_name_</div><div class="ttdoc">Descriptor name</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_abb02ec116a04534cbc1b8ff21ec2d622"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#abb02ec116a04534cbc1b8ff21ec2d622">pcl::rec_3d_framework::LocalRecognitionPipeline::setHVAlgorithm</a></div><div class="ttdeci">void setHVAlgorithm(typename boost::shared_ptr&lt; HypothesisVerification&lt; PointInT, PointInT &gt; &gt; &amp;alg)</div><div class="ttdoc">Sets the HV algorithm</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_abc0861c5e2a7866c3e5d32c8b068ad82"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#abc0861c5e2a7866c3e5d32c8b068ad82">pcl::rec_3d_framework::LocalRecognitionPipeline::estimator_</a></div><div class="ttdeci">boost::shared_ptr&lt; LocalEstimator&lt; PointInT, FeatureT &gt; &gt; estimator_</div><div class="ttdoc">Computes a feature</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_ad27e491f241b233e60a640e457eda67c"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#ad27e491f241b233e60a640e457eda67c">pcl::rec_3d_framework::LocalRecognitionPipeline::setFeatureEstimator</a></div><div class="ttdeci">void setFeatureEstimator(typename boost::shared_ptr&lt; LocalEstimator&lt; PointInT, FeatureT &gt; &gt; &amp;feat)</div><div class="ttdoc">Sets the local feature estimator</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_local_recognition_pipeline_html_af0e7e2c8953c779f6f1496647d0633c4"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_local_recognition_pipeline.html#af0e7e2c8953c779f6f1496647d0633c4">pcl::rec_3d_framework::LocalRecognitionPipeline::setCGAlgorithm</a></div><div class="ttdeci">void setCGAlgorithm(typename boost::shared_ptr&lt; CorrespondenceGrouping&lt; PointInT, PointInT &gt; &gt; &amp;alg)</div><div class="ttdoc">Sets the CG algorithm</div><div class="ttdef"><b>Definition:</b> local_recognizer.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_model.html">pcl::rec_3d_framework::Model&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_source_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_source.html">pcl::rec_3d_framework::Source</a></div><div class="ttdoc">Abstract data source class, manages filesystem, incremental training, etc.</div><div class="ttdef"><b>Definition:</b> source.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a></div><div class="ttdoc">PCL Visualizer main class.</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a0027de047edb88ae60afe6d39993ed2a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a0027de047edb88ae60afe6d39993ed2a">pcl::visualization::PCLVisualizer::close</a></div><div class="ttdeci">void close()</div><div class="ttdoc">Stop the interaction and close the visualizaton window.</div></div>
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<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a52243d2e72e3cd3f125b27360b4f8433"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a52243d2e72e3cd3f125b27360b4f8433">pcl::visualization::PCLVisualizer::spin</a></div><div class="ttdeci">void spin()</div><div class="ttdoc">Spin method. Calls the interactor and runs an internal loop.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_a8deb3d6c61801a1278c641475678b704"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#a8deb3d6c61801a1278c641475678b704">pcl::visualization::PCLVisualizer::removeAllPointClouds</a></div><div class="ttdeci">bool removeAllPointClouds(int viewport=0)</div><div class="ttdoc">Remove all point cloud data on screen from the given viewport.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_aa788c98f62fbf379abfc3b03550ecab5"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa788c98f62fbf379abfc3b03550ecab5">pcl::visualization::PCLVisualizer::addLine</a></div><div class="ttdeci">bool addLine(const P1 &amp;pt1, const P2 &amp;pt2, const std::string &amp;id=&quot;line&quot;, int viewport=0)</div><div class="ttdoc">Add a line segment from two points</div><div class="ttdef"><b>Definition:</b> pcl_visualizer.hpp:569</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_aa7d86bc003c5ad4c1f630ccd17fd779b"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#aa7d86bc003c5ad4c1f630ccd17fd779b">pcl::visualization::PCLVisualizer::removeAllShapes</a></div><div class="ttdeci">bool removeAllShapes(int viewport=0)</div><div class="ttdoc">Remove all 3D shape data on screen from the given viewport.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_p_c_l_visualizer_html_abc6af0973c4630d8770b3f18f21e794a"><div class="ttname"><a href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html#abc6af0973c4630d8770b3f18f21e794a">pcl::visualization::PCLVisualizer::setWindowName</a></div><div class="ttdeci">void setWindowName(const std::string &amp;name)</div><div class="ttdoc">Set the visualizer window name.</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_color_handler_custom_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_color_handler_custom.html">pcl::visualization::PointCloudColorHandlerCustom</a></div><div class="ttdoc">Handler for predefined user colors. The color at each point will be drawn as the use given R,...</div><div class="ttdef"><b>Definition:</b> point_cloud_color_handlers.h:192</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html"><div class="ttname"><a href="structpcl_1_1_correspondence.html">pcl::Correspondence</a></div><div class="ttdoc">Correspondence represents a match between two entities (e.g., points, descriptors,...</div><div class="ttdef"><b>Definition:</b> correspondence.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
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